public void TestDoorDetectorIsSavedInProperty()
{
MockDoorDetector doorDetector = new MockDoorDetector(null);
DoorOrientationNavigationStrategy doorOrientor = new DoorOrientationNavigationStrategy(doorDetector);
Assert.ReferenceEquals(doorDetector, doorOrientor.DoorDetector);
}
public void TestNearestTargetDoorIsSelected()
{
DetectedDoor door1 = new DetectedDoor(new System.Drawing.Rectangle(), DetectedDoor.DetectionConfidence.HIGH, 0, 50);
DetectedDoor door2 = new DetectedDoor(new System.Drawing.Rectangle(), DetectedDoor.DetectionConfidence.HIGH, 0, 25);
List <DetectedDoor> doors = new List <DetectedDoor>();
doors.Add(door1);
doors.Add(door2);
DoorOrientationNavigationStrategy strategy = new DoorOrientationNavigationStrategy(new MockDoorDetector(null));
PrivateObject privateAccessor = new PrivateObject(strategy);
DetectedDoor targetDoor = (DetectedDoor)privateAccessor.Invoke("GetTargetDoor", doors);
// door2 has the smallest estimated distance therefore it should be selected as the target door
Assert.AreEqual <DetectedDoor>(door2, targetDoor);
}
public void TestDoorNavigatorNavigatesTowardsDoor()
{
Bitmap image = new Bitmap("ObjectDetection\\Images\\door3.JPG");
MockFrame frame = new MockFrame(image);
MockImageStream stream = new MockImageStream(frame);
ColorBasedDoorDetector doorDetector = new ColorBasedDoorDetector();
DoorOrientationNavigationStrategy navigator = new DoorOrientationNavigationStrategy(doorDetector);
doorDetector.RunAsync(stream);
// Sleep for 1 second to ensure that the door detector has time to recognize the door
Thread.Sleep(1000);
Vector navigatorDirection = navigator.GetDirection();
Vector expectedDirection = new Vector(0.23776, 0.7623);
Assert.AreEqual <Vector>(expectedDirection, navigatorDirection);
doorDetector.CancelAsync();
}
